Kinematics and simulation researching on Dragon of Puncturing Mud Robot

"Dragon of puncturing mud" Robot is one kind robot of special type, as it can pave PE pipe, PVC pipe, cable and optical fiber cable under the mud, there are abroad appliance foreground and developing value. This paper presents the characteristics of the world representative air-powered mole of which the direction is controllable. According to the turning principle of "Dragon of Puncturing Mud" Robot, a design scheme is put forward on the robot turning device. Virtual prototype of the robot turning device has been done, swaying principle of the robot head is described and mechanism simulation on the turning device is researched. Kinematics model of "Dragon of puncturing mud" Robot are established and through applying Lagrange function, dynamics model of "dragon of puncturing mud" robot are established, by the robot moving simulation, kinematics equation and dynamic equation can factually reflect the sport rule of "dragon of puncturing mud" robot\´s whole reality. This paper can provide academic references for selecting power fountain and the engineering appliance of "dragon of puncturing mud" robot.